Robot arm with input elements

ABSTRACT

A robot arm allowing an improved ergonomic operation during a learning programming process of a robot having a robot arm with a number N of arm components A n , which can be connected to a robot body via a number N of actuator-drivable joint connections GV n , where n=1, 2, . . . , N.

RELATED APPLICATIONS

This application is a U.S. national phase application, claiming priorityunder 35 U.S.C. 371 to PCT application PCT/EP2016/073611, filed on Oct.4, 2016, claiming priority to German national application 10 2015 117211.9, filed on Oct. 8, 2015, the contents of the these applicationsincorporated by reference as if fully set forth herein in theirentireties.

FIELD AND BACKGROUND OF THE INVENTION

The present invention relates to the robotics industry.

BRIEF DESCRIPTION OF THE DRAWINGS

In the drawing:

FIG. 1 shows a schematic partial view of an exemplary embodiment of theproposed robot arm.

DETAILED DESCRIPTION OF THE INVENTION

The invention relates to a robot arm with a number N of arm componentsA_(n), which can be connected to a robot body via a number N ofactuator-drivable joint connections GV_(n). The invention also relatesto a robot having a robot arm of this type.

So-called teach-programming (“teach-in” process) of the robot is commonin the interaction between human and robot. Here, a human being grips arobot arm of the robot, in particular at the final actuator, and carriesout a movement of the robot arm to be taught. In doing so, the robotadvantageously compensates for the inertia and the inherent weight ofthe robot arm. The movement executed by the robot arm is stored and cansubsequently be carried out automatically by the robot. This enablessimple and rapid programming of the robot. A reworking or optimizationof the executed and stored movement of the robot arm is of coursepossible.

With this “teach-in” process, the robot arm has to be gripped and guidedfrom different positions. Furthermore, control elements and possiblyindicator elements on the robot or on the robot arm are required inorder to control teach-programming and to enable status indications orother outputs. It is important here that these control elements andindicator elements are easy to operate and see from an ergonomic pointof view.

The object of the invention is to specify a robot arm which enablesergonomic teach-programming of a robot having a robot arm.

The invention can be seen from the characteristics of the independentclaims. Advantageous improvements and embodiments of the invention arethe subject matter of the dependent claims. Further characteristics,possible applications and advantages of the invention can be seen fromthe following description and the explanation of exemplary embodimentsof the invention, which are shown in the FIGURES.

A first aspect of the invention relates to a robot arm, which has anumber N of arm components A_(n), which can be connected to a robot bodyvia a number N of actuator-drivable joint connections GV_(n) where n=1,2, . . . , N.

According to the invention, the proposed robot arm is characterized inthat the distal arm component A_(N) of the robot arm is connected at itsproximal end to the arm component A_(N−1) via the joint connectionGV_(N), the proximal arm component A₁ of the robot arm can be connectedat its proximal end to the robot body via the joint connection GV₁, thejoint connection GV_(N) permits a rotation of the arm component A_(N)about a rotational axis D_(N), the arm component A_(N) of the robot armextends along an axis L1 and the axis L1 encloses an angle of 50° to130° with the rotational axis D_(N), the distal end of the arm componentA_(N) can be connected to an actuator E via an actuator-drivable jointconnection GV_(N+1), wherein the joint connection GV_(N+1) permits arotation of the actuator E about a rotational axis D_(N+1). Furthermore,according to the invention, the rotational axes D_(N) and D_(N+1)enclose an angle W1 in the range from 50° to 130°, the rotational axisD_(N+1) and the axis L1 enclose an angle W2 in the range from 50° to130°, wherein the arm component A_(N) has a grip-like projection F1rigidly connected thereto (to the arm component A_(N)), which projectionextends concentrically with respect to the rotational axis D_(N+1), afree end FE of the projection can be rotated with respect to the rest ofthe projection F1 about the rotational axis D_(N+1) or can be arrangedrotatably about the rotational axis D_(N+1), and the free end FE hasinput elements EE for the manual input of data.

The proposed arrangement and design of the input elements EE on the freeend FE of the projection in particular enables good ergonomic operation,particularly during teach-programming of a robot having such a robotarm. The input of information via the input elements EE isadvantageously carried out manually, i.e. by means of touching or manualoperation of the input elements EE.

Advantageously, the input elements EE are arranged on the free end FE atleast partially concentrically with respect to the rotational axisD_(N+1). That is to say that two, three, . . . or all the input elementsEE are arranged concentrically with respect to the rotational axisD_(N+1), advantageously with an identical radius to the rotational axisD_(N+1). If the projection F1 is gripped by a hand and if the inputelements EE are operated with the thumb of the hand, then the inputelements EE are consistently well accessible or operable by the thumb,even with different alignments of the hand.

Advantageously, an input element EE₀ of the input elements EE isarranged axially with respect to the rotational axis D_(N+1).Advantageously, this central input element EE₀ serves to input orcontrol current primary parameters, for example to input a start timeand a finish time for teach-programming.

Advantageously, the parameters input or controlled by means of the inputelements EE can in each case be variably assigned or selectedautomatically or manually depending on the particular task.

Advantageously, the projection F1 is designed such that it can begripped by a hand of an operator, wherein a thumb of the hand comes torest on the free end FE for operating the input elements EE.Advantageously, the projection F1 has a cylindrical shape or anergonomic grip shape for this purpose.

Advantageously, the free end FE is ergonomically formed for operatingthe input elements EE with the thumb of the hand. For this purpose, inan embodiment, the input elements EE are arranged on a surface which isinclined at an angle of 5 to 60° with respect to a surface perpendicularto the rotational axis D_(N+1). This inclination enables the inputelements EE to be operated ergonomically, wherein, in particular, thedistal thumb joint of the operating hand does not have to be bent, forexample, at 90°.

Advantageously, the input elements EE have light elements with one ormore controllable light sources. Advantageously, the light source/s arelight emitting diodes LEDs.

Advantageously, the input elements EE are designed as buttons and/orrocker switches and/or pushbuttons and/or switches and/or rotary knobsand/or slide controllers. In a further advantageous embodiment, theinput elements EE are designed as input fields of a touchpad(touch-sensitive surface) or a touchscreen (touch-sensitive display).

In a development of the proposed robot arm, the free end FE of theprojection F1 can be detachably securely connected (for example, bymeans of latching or clip connections) to the rest of the projection F1in different alignments about the rotational axis D_(N+1). That is tosay that the free end FE can be detached from the rest of the projectionF1, which is rigidly connected to the robot arm, and can be used againwith the rest of the projection F1 in a different position rotated withrespect to the rotational axis D_(N+1). This enables the input elementsEE to be in each case optimally oriented with regard to their alignmentrelative to the hand gripping the projection F1. However, this alignmentrequires the free end FE to be detached every time and the free end FEto be reconnected to the rest of the projection F1 in a new angularorientation.

In a particularly advantageous embodiment of the robot arm, the free endFE of the projection F1 is securely connected rotatably about therotational axis D_(N+1) to the rest of the projection. In thisembodiment, advantageously, the free end FE can be rotated freely (i.e.without a stop) about the rotational axis D_(N+1). The detachment andreconnection of the free end FE, as described in the above development,is not required in this embodiment.

A development is characterized in that a mechanical and/or electricaland/or a magnetic latching device, which allows a rotation of the freeend FE about the rotational axis D_(N+1) with a specified resolution, isprovided between the free end FE and the rest of the projection F1. Inparticular, this prevents unwanted rotation of the free end FE withrespect to the rest of the projection F1. In order to move from onelatching position to an adjacent latching position, it is necessary toapply a specified force or a specified torque to the free end FE.Advantageously, this force or this torque is chosen such that anergonomic operation of the input elements is possible with differentgrip alignments of the hand on the projection F1. Advantageously, thisforce or this torque can be specified variably as required.

A development is characterized in that an output unit for outputtinggraphical and/or alphanumeric information is arranged on the armcomponent A_(N). This enables the display or output of relevantinformation, for example while teach-programming is being carried out.

A development is characterized in that the robot arm or, in particularthe arm component A_(N), has an interface via which a smartphone can beconnected as an output unit. This interface can be amechanical/electrical interface or a wireless interface (for exampleBluetooth, WLAN etc.).

A development is characterized in that a projection F2 is formed on theactuator E or on an intermediate part ZW arranged between the jointconnection GV_(N+1) and the actuator E, which projection extendsperpendicular to the rotational axis D_(N+1) and can be gripped by ahand. In particular, a projection F2 of this kind enables a moresensitive and more accurate guidance or operation of the robot arm. Indoing so, the projection F1 and the projection F2 are each gripped orguided by a different hand of an operator.

A development is characterized in that one or more input elementsEE_(ZW) are arranged on the intermediate part ZW within reach of a thumbof the hand gripping the projection F2. This makes it possible toactuate inputs via the input elements EE and/or via the input elementsEE_(ZW).

In a particularly preferred embodiment, W1=90° and/or W2=90° are chosenfor the angles mentioned in the introduction.

A further aspect of the invention relates to a robot having a robot armas described above.

Advantageously, the robot comprises sensors for detecting a mechanicalstate Z(t) of the robot arm, a unit for detecting inputs EG(t) via theinput elements EE and/or EE_(ZW), a unit for evaluating the states Z(t)and the inputs EG(t) to determine evaluation results AW(t), and astorage unit for storing the evaluation results AW(t).

Advantageously, the evaluation results AW(t) are control instructionsfor controlling the robot arm. The proposed robot therefore enables thedetection of states Z(t) of the robot arm which, in particular, aregenerated by the mechanical guidance of an operator, the detection ofoperator inputs via the input elements EE and/or EE_(ZW), the evaluationof the detected states Z(t) and inputs and their conversion intoevaluation results AW(t) which, in particular, constitute controlinstructions for carrying out the entered movements of the robot arm.

Here, advantageously, the mechanical state Z(t) is understood to meanthe positioning of the robot arm, derivative/s with respect to time ofthe positioning of the robot arm, and/or forces and moments occurringand acting on the robot arm. The state Z(t) can, of course, includefurther time-dependent state parameters depending on the task andrequirement. Advantageously, the unit for detecting the inputs EG(t)includes the input elements EE and/or EE_(ZW) as well as a processingunit PE1 connected to the input elements. Advantageously, the unit forevaluating the states Z(t) is a computer or a processing unit PE2, bymeans of which the appropriate evaluation program is executed.Advantageously, the processor units PE1 and PE2 are identical.

Further advantages, characteristics, and details can be seen from thefollowing description, in which at least one exemplary embodiment isdescribed in detail—where appropriate with reference to the drawing.

FIG. 1 shows a schematic view of an exemplary embodiment of the proposedrobot arm. The robot arm, shown in parts, has a number N of armcomponents A_(n), which can be connected to a robot body via a number Nof actuator-drivable joint connections GV_(n) where n=1, 2, . . . , N.Only the arm component A_(N−1) and A_(N) is shown in FIG. 1. The robotarm shown in parts is characterized in that the distal arm componentA_(N) of the robot arm is connected at its proximal end to the armcomponent A_(N−1) via the joint connection GV_(N), the proximal armcomponent A₁ can be connected at its proximal end to the robot body (notshown) via the joint connection GV₁, the joint connection GV_(N) permitsa rotation of the arm component A_(N) about a rotational axis D_(N), thearm component A_(N) of the robot arm extends along an axis L1 and theaxis L1 encloses an angle of 90° with the rotational axis D_(N), thedistal end of the arm component A_(N) can be connected to an actuator E(not shown) via an actuator-drivable joint connection GV_(N+1), whereinthe joint connection GV_(N+1) permits a rotation of the actuator E abouta rotational axis D_(N+1), wherein the rotational axes D_(N) and D_(N+1)enclose an angle W1 in the region of 90°, and wherein the rotationalaxis D_(N+1) and the axis L1 enclose an angle W2 of 90°.

The robot arm shown in parts is further characterized in that the armcomponent A_(N) has a grip-like projection F1 rigidly connected to thearm component A_(N), which projection extends concentrically withrespect to the rotational axis D_(N+1), wherein a free end FE of theprojection F1 can be arranged rotatably about the rotational axisD_(N+1) with respect to the rest of the projection F1, and the free endFE has input elements EE for the manual input of data.

Here, the free end FE can be detachably fixed on the rest of theprojection F1 by means of two clips in a total of four differentalignments which each differ from one another by an angle of 90°. Here,the projection F1 has an approximately square cross section with roundedcorners.

Four axially arranged input elements EE, a central axially arrangedinput element EE and, on sloping surfaces, a total of three furtherinput elements EE are arranged on the top of the free detachable end FE.The electrical transmission of signals of the input elements EE betweenthe detachable end FE and the rest of the projection F1 isadvantageously carried out by wires, or by means of a slip ringtransmission, or by means of wireless transmission.

Advantageously, the input elements EE at least partially comprise lightelements, by means of which, for example, a current input status can beoutput and/or which serve to identify currently active input elementsEE, and/or serve simply to illuminate the input elements EE.Furthermore, advantageously, the robot arm has an audible and/or visualoutput unit, by means of which a status generated in conjunction with anoperation of an input element EE can be output audibly and/or visually.This enables a robot status or alarms to be output via the output unit.

The flexible arrangement of the detachable free end FE enables asuitable alignment for the operator to enable inputs to be made fromdifferent perspectives and gripping directions.

Although the invention has been illustrated and described in detail bymeans of preferred embodiments, the invention is not restricted to thedisclosed examples, and other variations can be derived therefrom by theperson skilled in the art without departing from the scope of protectionof the invention. It is therefore clear that a multiplicity of possiblevariations exists. It is likewise clear that embodiments cited by way ofexample do indeed only constitute examples which are not to be regardedin any way as restricting the scope of protection, the possibleapplications or the configuration of the invention. Rather, the abovedescription and the description of the FIGURES enable the person skilledin the art to specifically implement the exemplary embodiments, wherein,with a knowledge of the disclosed inventive idea, the person skilled inthe art can make various changes, for example with regard to thefunction or the arrangement of individual elements cited in an exemplaryembodiment, without departing from the scope of protection which isdefined by the claims and their legal equivalents, such as furtherexplanations in the description.

The invention claimed is:
 1. A robot arm, comprising: a number N of armcomponents A_(n), which is connected to a robot body via a number N ofactuator-drivable joint connections GV_(n) where n=1, 2, . . . , N;wherein the distal arm component A_(N) of the robot arm is connected atits proximal end to the arm component A_(N−1) via the joint connectionGV_(N), the proximal arm component A₁ is connected at its proximal endto the robot body via the joint connection GV₁, the joint connectionGV_(N) permits a rotation of the arm component A_(N) about a rotationalaxis D_(N), the arm component A_(N) of the robot arm extends along anaxis L1 and the axis L1 encloses an angle of 50° to 130° with therotational axis D_(N), the distal end of the arm component A_(N) isconnected to an actuator E via an actuator-drivable joint connectionGV_(N+1), wherein the joint connection GV_(N+1) permits a rotation ofthe actuator E about a rotational axis D_(N+1), wherein the rotationalaxes D_(N) and D_(N+1) enclose an angle W1 in the range from 50° to130°, the rotational axis D_(N+1) and the axis L1 enclose an angle W2 inthe range from 50° to 130°, the arm component A_(N) has a grip-likeprojection F1 rigidly connected thereto, which projection extendsconcentrically with respect to the rotational axis D_(N+1), a free endFE of the projection F1 rotatable with respect to the rest of theprojection F1 about the rotational axis D_(N+1) or is arranged rotatablyabout the rotational axis D_(N+1), and the free end FE has inputelements EE for the manual input of data.
 2. The robot arm according toclaim 1, in which the input elements EE are arranged on a surface whichis inclined at an angle of 5 to 60° with respect to a surfaceperpendicular to the rotational axis D_(N+1).
 3. The robot arm accordingto claim 1, in which the free end FE is detachably securely connected(for example, by means of latching or clip connections) to the rest ofthe projection F1 in different alignments about the rotational axisD_(N+1).
 4. The robot arm according to claim 1, in which the free end FEis securely connected rotatably about the rotational axis D_(N+1) to therest of the projection F1.
 5. The robot arm according to claim 1, inwhich a mechanical and/or electrical and/or a magnetic latching device,which allows a rotation of the free end FE about the rotational axisD_(N+1) with a specified resolution, is provided between the free end FEand the rest of the projection F1.
 6. The robot arm according to claim1, in which a projection F2 is formed on the actuator E or on anintermediate part ZW arranged between the joint connection GV_(N+1) andthe actuator E, which projection extends perpendicular to the rotationalaxis D_(N+1) and is graspable by a hand.
 7. The robot arm according toclaim 1, in which one or more input elements EE_(ZW) are arranged on anintermediate part ZW within reach of a thumb of a hand.
 8. A robothaving a robot arm according to claim
 1. 9. The robot according to claim8, further comprising: sensors for detecting a mechanical state Z(t) ofthe robot arm, a unit for detecting inputs EG(t) via the input elements,a unit for evaluating the states Z(t) and the inputs EG(t) to determineevaluation results AW(t), and a storage unit for storing the evaluationresults AW(t).
 10. The robot according to claim 9, in which theevaluation results AW(t) are control instructions for controlling therobot arm or control instructions for changing a control program of therobot and/or of its parameters.
 11. The robot arm according to claim 2,in which the free end FE is detachably securely connected (for example,by means of latching or clip connections) to the rest of the projectionF1 in different alignments about the rotational axis D_(N+1).
 12. Therobot arm according to claim 2, in which the free end FE is securelyconnected rotatably about the rotational axis D_(N+1) to the rest of theprojection F1.
 13. The robot arm according to claim 3, in which the freeend FE is securely connected rotatably about the rotational axis D_(N+1)to the rest of the projection F1.
 14. The robot arm according to claim2, in which a mechanical and/or electrical and/or a magnetic latchingdevice, which allows a rotation of the free end FE about the rotationalaxis D_(N+1) with a specified resolution, is provided between the freeend FE and the rest of the projection F1.
 15. The robot arm according toclaim 3, in which a mechanical and/or electrical and/or a magneticlatching device, which allows a rotation of the free end FE about therotational axis D_(N+1) with a specified resolution, is provided betweenthe free end FE and the rest of the projection F1.
 16. The robot armaccording to claim 4, in which a mechanical and/or electrical and/or amagnetic latching device, which allows a rotation of the free end FEabout the rotational axis D_(N+1) with a specified resolution, isprovided between the free end FE and the rest of the projection F1. 17.The robot arm according to claim 13, in which a mechanical and/orelectrical and/or a magnetic latching device, which allows a rotation ofthe free end FE about the rotational axis D_(N+1) with a specifiedresolution, is provided between the free end FE and the rest of theprojection F1.
 18. The robot arm according to claim 5, in which aprojection F2 is formed on the actuator E or on an intermediate part ZWarranged between the joint connection GV_(N+1) and the actuator E, whichprojection extends perpendicular to the rotational axis D_(N+1) and isgraspable by a hand.
 19. A robot having a robot arm according to claim4.
 20. A robot having a robot arm according to claim 5.